示例#1
0
func (this *HaarCascade) DetectObjects(image *IplImage) []*Rect {
	storage := C.cvCreateMemStorage(0)
	seq := C.cvHaarDetectObjects(unsafe.Pointer(image), this.cascade, storage, 1.1, 3, C.CV_HAAR_DO_CANNY_PRUNING, C.cvSize(0, 0), C.cvSize(0, 0))
	var faces []*Rect
	for i := 0; i < (int)(seq.total); i++ {
		rect := (*Rect)((*_Ctype_CvRect)(unsafe.Pointer(C.cvGetSeqElem(seq, C.int(i)))))
		faces = append(faces, rect)
	}
	return faces
}
示例#2
0
/* Returns a Seq of countours in an image, detected according to the parameters.
   Caller must Release() the Seq returned */
func (image *IplImage) FindContours(mode, method int, offset Point) *Seq {
	storage := C.cvCreateMemStorage(0)
	header_size := (C.size_t)(unsafe.Sizeof(C.CvContour{}))
	var seq *C.CvSeq
	C.cvFindContours(
		unsafe.Pointer(image),
		storage,
		&seq,
		C.int(header_size),
		C.int(mode),
		C.int(method),
		C.cvPoint(C.int(offset.X), C.int(offset.Y)))

	return (*Seq)(seq)
}
示例#3
0
func detect(tarImg *C.IplImage) *C.CvSeq {
	cvHCC := (*C.CvHaarClassifierCascade)(
		C.cvLoad(C.CString("./config/haarcascade_frontalface_default.xml"),
			(*C.CvMemStorage)(nil),
			(*C.char)(nil),
			(**C.char)(nil)))
	cvMStr := C.cvCreateMemStorage(0)

	return C.cvHaarDetectObjects(
		unsafe.Pointer(tarImg),
		cvHCC,
		cvMStr,
		1.11,
		3,
		0,
		C.cvSize(0, 0),
		C.cvSize(0, 0),
	)
}
示例#4
0
func measure(deltaC chan Command, videoFile string, debug bool, config Configuration) {
	camera, err := getVideoSource(videoFile)
	if err != nil {
		// No valid video source. Abort measuring.
		log.Printf("ERROR: Unable to get video source")
		log.Print(err)
		return
	}
	defer C.cvReleaseCapture(&camera)

	// Make sure we release the camera when the operating system crushes us.
	c := make(chan os.Signal, 1)
	signal.Notify(c, os.Interrupt)
	go func() {
		<-c
		log.Printf("INFO: The OS shut down the scout.")
		C.cvReleaseCapture(&camera)
		return
	}()

	scene := initScene()

	// Build the calibration frame from disk.
	var calibrationFrame *C.IplImage
	if _, err := os.Stat("calibrationFrame.jpg"); err == nil {
		file := C.CString("calibrationFrame.jpg")

		calibrationFrame = C.cvLoadImage(file, C.CV_LOAD_IMAGE_COLOR)
		defer C.cvReleaseImage(&calibrationFrame)

		C.free(unsafe.Pointer(file))
	} else {
		log.Printf("ERROR: Unable to measure, missing calibration frame")
		log.Print(err)
		return
	}

	// Create a frame to hold the foreground mask results.
	mask := C.cvCreateImage(C.cvSize(calibrationFrame.width, calibrationFrame.height), C.IPL_DEPTH_8U, 1)
	defer C.cvReleaseImage(&mask)

	// Push the initial calibration frame into the MOG2 image subtractor.
	C.initMOG2(C.int(config.MogHistoryLength), C.double(config.MogThreshold), C.int(config.MogDetectShadows))
	C.applyMOG2(unsafe.Pointer(calibrationFrame), unsafe.Pointer(mask))

	// Current frame counter.
	frame := int64(0)
	measuring := true

	// Start monitoring from the camera.
	for measuring && C.cvGrabFrame(camera) != 0 {
		// See if there are any new commands on the deltaC channel.
		select {
		case c := <-deltaC:
			switch {
			case c == STOP_MEASURE:
				log.Printf("INFO: Stopping measure")
				measuring = false
			}

		default:
			// Procceed with measuring.
		}

		// Subtract the calibration frame from the current frame.
		nextFrame := C.cvRetrieveFrame(camera, 0)
		C.applyMOG2(unsafe.Pointer(nextFrame), unsafe.Pointer(mask))

		// Filter the foreground mask to clean up any noise or holes (morphological-closing).
		C.cvSmooth(unsafe.Pointer(mask), unsafe.Pointer(mask), C.CV_GAUSSIAN, C.int(config.GaussianSmooth), 0, 0.0, 0.0)
		C.cvThreshold(unsafe.Pointer(mask), unsafe.Pointer(mask), C.double(config.ForegroundThresh), 255, 0)
		C.cvDilate(unsafe.Pointer(mask), unsafe.Pointer(mask), nil, C.int(config.DilationIterations))

		// Detect contours in filtered foreground mask
		storage := C.cvCreateMemStorage(0)
		contours := C.cvCreateSeq(0, C.size_t(unsafe.Sizeof(C.CvSeq{})), C.size_t(unsafe.Sizeof(C.CvPoint{})), storage)
		offset := C.cvPoint(C.int(0), C.int(0))
		num := int(C.cvFindContours(unsafe.Pointer(mask), storage, &contours, C.int(unsafe.Sizeof(C.CvContour{})),
			C.CV_RETR_LIST, C.CV_CHAIN_APPROX_SIMPLE, offset))

		var detectedObjects []Waypoint

		// Track each of the detected contours.
		for contours != nil {
			area := float64(C.cvContourArea(unsafe.Pointer(contours), C.cvSlice(0, 0x3fffffff), 0))

			// Only track large objects.
			if area > config.MinArea {
				boundingBox := C.cvBoundingRect(unsafe.Pointer(contours), 0)
				w := int(boundingBox.width / 2)
				h := int(boundingBox.height / 2)
				x := int(boundingBox.x) + w
				y := int(boundingBox.y) + h

				detectedObjects = append(detectedObjects, Waypoint{x, y, w, h, 0.0})

				if debug {
					// DEBUG -- Render contours and bounding boxes around detected objects.
					pt1 := C.cvPoint(boundingBox.x, boundingBox.y)
					pt2 := C.cvPoint(boundingBox.x+boundingBox.width, boundingBox.y+boundingBox.height)
					C.cvDrawContours(unsafe.Pointer(nextFrame), contours, C.cvScalar(12.0, 212.0, 250.0, 255), C.cvScalar(0, 0, 0, 0), 2, 1, 8, offset)
					C.cvRectangle(unsafe.Pointer(nextFrame), pt1, pt2, C.cvScalar(16.0, 8.0, 186.0, 255), C.int(5), C.int(8), C.int(0))
				}
			} else {
				num--
			}

			contours = contours.h_next
		}

		scene.update(detectedObjects, debug, config)
		C.cvClearMemStorage(storage)
		C.cvReleaseMemStorage(&storage)

		if debug {
			var font C.CvFont
			C.cvInitFont(&font, C.CV_FONT_HERSHEY_SIMPLEX, C.double(0.5), C.double(0.5), C.double(1.0), C.int(2), C.CV_AA)
			txt := C.CString("Hello friend.")
			C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(2, 2), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
			C.free(unsafe.Pointer(txt))

			// DEBUG -- render current interaction path for detected objects.
			for _, i := range scene.Interactions {
				for _, w := range i.Path {
					pt1 := C.cvPoint(C.int(w.XPixels), C.int(w.YPixels))
					C.cvCircle(unsafe.Pointer(nextFrame), pt1, C.int(10), C.cvScalar(109.0, 46.0, 0.0, 255), C.int(2), C.int(8), C.int(0))
				}

				w := i.lastWaypoint()
				txt := C.CString(fmt.Sprintf("%01d", i.SceneID))
				C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(C.int(w.XPixels+10), C.int(w.YPixels+10)), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
				C.free(unsafe.Pointer(txt))
			}

			for _, i := range scene.idleInteractions {
				w := i.lastWaypoint()
				pt1 := C.cvPoint(C.int(w.XPixels-w.HalfWidthPixels+5), C.int(w.YPixels-w.HalfHeightPixels+5))
				pt2 := C.cvPoint(C.int(w.XPixels+w.HalfWidthPixels-5), C.int(w.YPixels+w.HalfHeightPixels-5))
				C.cvRectangle(unsafe.Pointer(nextFrame), pt1, pt2, C.cvScalar(16.0, 186.0, 8.0, 255), C.int(5), C.int(8), C.int(0))

				txt := C.CString("i:" + fmt.Sprintf("%01d", i.SceneID))
				C.cvPutText(unsafe.Pointer(nextFrame), txt, C.cvPoint(C.int(w.XPixels+10), C.int(w.YPixels+10)), &font, C.cvScalar(255.0, 255.0, 255.0, 255))
				C.free(unsafe.Pointer(txt))
			}

			file := C.CString("f" + fmt.Sprintf("%03d", frame) + "-detected.png")
			C.cvSaveImage(file, unsafe.Pointer(nextFrame), nil)
			C.free(unsafe.Pointer(file))
			frame++

		}
	}

	log.Printf("INFO: Finished measure")
	scene.close(debug, config)
}
示例#5
0
/****************************************************************************************\
*                                    Data Persistence                         *
\****************************************************************************************/
func NewMemStorage() *MemStorage {
	mem := C.cvCreateMemStorage(0)
	return (*MemStorage)(mem)
}